gpu_id=${1}
collect_num=${2}
custom_name=${3}
embodiment=${4}
action_type=${5}
trim_arm=${6} #can be 1 or 0
camera_use_full=${7} #can be 1 or 0
dp3_config_name=${8}
name=demo_clean_${custom_name}-${collect_num}-${embodiment}-${action_type}-ta${trim_arm?1:0}-cam${camera_use_full?1:0}
cd ${root_path}; bash collect_data.sh place_shoe $name $gpu_id
cd ${root_path}/policy/DP3; bash process_data.sh place_shoe $name $collect_num $action_type 0
cd ${root_path}/policy/DP3; python3 replay_buffer_test.py ${root_path}/policy/DP3/data/place_shoe-$name-$collect_num-$action_type.zarr
cd ${root_path}/../utilgyh; python3 dataTraverser.py \
-z ${root_path}/policy/DP3/data/place_shoe-$name-$collect_num-$action_type.zarr \
-p pcdf1-ldp-k-r1024-saver-savep-vigif  -f 0 -e 0 \
-o ${root_path}/policy/DP3/data/place_shoe-$name-trim-$collect_num-$action_type.zarr
cd ${root_path}/policy/DP3; bash train.sh place_shoe ${name} $collect_num  1 $gpu_id ${root_path}/policy/DP3/data/place_shoe-$name-$collect_num-$action_type.zarr ${dp3_config_name} 
cd ${root_path}/policy/DP3; bash eval.sh place_shoe ${name} $collect_num  1 $gpu_id ${root_path}/policy/DP3/data/place_shoe-$name-$collect_num-$action_type.zarr ${dp3_config_name} 3000